US 12,134,404 B2
System and method for detecting a perceived level of driver discomfort in an automated vehicle
Zhaobo K. Zheng, San Jose, CA (US); Kumar Akash, Milpitas, CA (US); and Teruhisa Misu, San Jose, CA (US)
Assigned to HONDA MOTOR CO., LTD., Tokyo (JP)
Filed by Honda Motor Co., Ltd., Tokyo (JP)
Filed on Jun. 1, 2022, as Appl. No. 17/829,664.
Prior Publication US 2023/0391366 A1, Dec. 7, 2023
Int. Cl. B60W 60/00 (2020.01); B60W 40/08 (2012.01); B60W 50/10 (2012.01); G06V 20/58 (2022.01)
CPC B60W 60/0013 (2020.02) [B60W 40/08 (2013.01); B60W 50/10 (2013.01); B60W 60/005 (2020.02); G06V 20/58 (2022.01); B60W 2040/0872 (2013.01); B60W 2420/403 (2013.01); B60W 2540/221 (2020.02); B60W 2540/225 (2020.02); B60W 2540/229 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A computer-implemented method for detecting a perceived level of driver discomfort in an automated vehicle comprising:
receiving image data associated with a driving scene of an ego vehicle, dynamic data associated with an operation of the ego vehicle, and driver data associated with a driver of the ego vehicle during autonomous operation of the ego vehicle;
analyzing the image data, the dynamic data, and the driver data and extracting features associated with a plurality of modalities that pertain to the driving scene of the ego vehicle, dynamic operation of the ego vehicle, and the driver of the ego vehicle during the autonomous operation of the ego vehicle;
analyzing the extracted features and detecting the perceived level of driver discomfort;
analyzing the perceived level of driver discomfort and detecting a probable driver takeover intent of the driver of the ego vehicle to takeover manual operation of the ego vehicle;
upon detecting the probable driver takeover intent, communicating data concerning the probable driver takeover intent and a probable future time step at which a takeover intent by the driver is expected to occur; and
autonomously controlling at least one system of the ego vehicle to determine and complete autonomous maneuvers aimed at easing the perceived level of driver discomfort based on the probable driver takeover intent and the probable future time step.